Author(s):
1. Marko Penčić, Faculty of Technical Sciences, Department for Production Engineering, Serbia
2. Maja Čavić, Faculty of Technical Sciences, Department for Production Engineering, Serbia
3. Milan Rackov, Fakultet tehničkih nauka Univerziteta u Novom Sadu, Serbia
4. Branislav Borovac, Faculty of Technical Sciences, Department for Production Engineering, Serbia

Abstract:
This paper presents the development of the waist mechanism for humanoid robots. The research was conducted within the project which is developing a humanoid robot Marko that represents assistive technology in physical therapy for children with cerebral palsy. There are two basic ways for realization of the robot trunk. The first is based on multi-joint viscoelastic structures that have variable flexibility and the second one is based on low backlash mechanisms with one joint that has high stiffness. Based on the kinematic-dynamic requirements a dynamic model of the robot upper body is formed. Dynamic simulation for several positions of the robot was performed and the driving torques of the waist mechanism are determined. Realized waist has 1 DOF and enables movements in the direction of flexion-extension 90°. It consists of a gear mechanism with bevel and helical gears. It has a high carrying capacity and reliability, high efficiency and low backlash that provide high positioning accuracy and repeatability of movements.

Key words:
assistive robot,humanoid Marko,waist mechanism,mechanical design

Thematic field:
Mechanics and Design

Date of abstract submission:
02.02.2017.

Conference:
13th International Conference on Accomplishments in Mechanical and Industrial Engineering

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